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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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98
Extras/AlgebraicCCD/BU_AlgebraicPolynomialSolver.cpp
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@@ -16,23 +16,23 @@ subject to the following restrictions:
#include "BU_AlgebraicPolynomialSolver.h"
#include <math.h>
#include <SimdMinMax.h>
#include <btSimdMinMax.h>
int BU_AlgebraicPolynomialSolver::Solve2Quadratic(SimdScalar p, SimdScalar q)
int BU_AlgebraicPolynomialSolver::Solve2Quadratic(btScalar p, btScalar q)
{
SimdScalar basic_h_local;
SimdScalar basic_h_local_delta;
btScalar basic_h_local;
btScalar basic_h_local_delta;
basic_h_local = p * 0.5f;
basic_h_local_delta = basic_h_local * basic_h_local - q;
if (basic_h_local_delta > 0.0f) {
basic_h_local_delta = SimdSqrt(basic_h_local_delta);
basic_h_local_delta = btSqrt(basic_h_local_delta);
m_roots[0] = - basic_h_local + basic_h_local_delta;
m_roots[1] = - basic_h_local - basic_h_local_delta;
return 2;
}
else if (SimdGreaterEqual(basic_h_local_delta, SIMD_EPSILON)) {
else if (btGreaterEqual(basic_h_local_delta, SIMD_EPSILON)) {
m_roots[0] = - basic_h_local;
return 1;
}
@@ -42,13 +42,13 @@ int BU_AlgebraicPolynomialSolver::Solve2Quadratic(SimdScalar p, SimdScalar q)
}
int BU_AlgebraicPolynomialSolver::Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c)
int BU_AlgebraicPolynomialSolver::Solve2QuadraticFull(btScalar a,btScalar b, btScalar c)
{
SimdScalar radical = b * b - 4.0f * a * c;
btScalar radical = b * b - 4.0f * a * c;
if(radical >= 0.f)
{
SimdScalar sqrtRadical = SimdSqrt(radical);
SimdScalar idenom = 1.0f/(2.0f * a);
btScalar sqrtRadical = btSqrt(radical);
btScalar idenom = 1.0f/(2.0f * a);
m_roots[0]=(-b + sqrtRadical) * idenom;
m_roots[1]=(-b - sqrtRadical) * idenom;
return 2;
@@ -58,8 +58,8 @@ int BU_AlgebraicPolynomialSolver::Solve2QuadraticFull(SimdScalar a,SimdScalar b,
#define cubic_rt(x) \
((x) > 0.0f ? SimdPow((SimdScalar)(x), 0.333333333333333333333333f) : \
((x) < 0.0f ? -SimdPow((SimdScalar)-(x), 0.333333333333333333333333f) : 0.0f))
((x) > 0.0f ? btPow((btScalar)(x), 0.333333333333333333333333f) : \
((x) < 0.0f ? -btPow((btScalar)-(x), 0.333333333333333333333333f) : 0.0f))
@@ -72,26 +72,26 @@ int BU_AlgebraicPolynomialSolver::Solve2QuadraticFull(SimdScalar a,SimdScalar b,
/* it returns the number of different roots found, and stores the roots in */
/* roots[0,2]. it returns -1 for a degenerate equation 0 = 0. */
/* */
int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c)
int BU_AlgebraicPolynomialSolver::Solve3Cubic(btScalar lead, btScalar a, btScalar b, btScalar c)
{
SimdScalar p, q, r;
SimdScalar delta, u, phi;
SimdScalar dummy;
btScalar p, q, r;
btScalar delta, u, phi;
btScalar dummy;
if (lead != 1.0) {
/* */
/* transform into normal form: x^3 + a x^2 + b x + c = 0 */
/* */
if (SimdEqual(lead, SIMD_EPSILON)) {
if (btEqual(lead, SIMD_EPSILON)) {
/* */
/* we have a x^2 + b x + c = 0 */
/* */
if (SimdEqual(a, SIMD_EPSILON)) {
if (btEqual(a, SIMD_EPSILON)) {
/* */
/* we have b x + c = 0 */
/* */
if (SimdEqual(b, SIMD_EPSILON)) {
if (SimdEqual(c, SIMD_EPSILON)) {
if (btEqual(b, SIMD_EPSILON)) {
if (btEqual(c, SIMD_EPSILON)) {
return -1;
}
else {
@@ -128,8 +128,8 @@ int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, Sim
/* */
/* now use Cardano's formula */
/* */
if (SimdEqual(p, SIMD_EPSILON)) {
if (SimdEqual(q, SIMD_EPSILON)) {
if (btEqual(p, SIMD_EPSILON)) {
if (btEqual(q, SIMD_EPSILON)) {
/* */
/* one triple root */
/* */
@@ -151,7 +151,7 @@ int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, Sim
/* */
/* one real and two complex roots. note that v = -p / u. */
/* */
u = -q + SimdSqrt(delta);
u = -q + btSqrt(delta);
u = cubic_rt(u);
m_roots[0] = u - p / u - a;
return 1;
@@ -160,19 +160,19 @@ int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, Sim
/* */
/* Casus irreducibilis: we have three real roots */
/* */
r = SimdSqrt(-p);
r = btSqrt(-p);
p *= -r;
r *= 2.0;
phi = SimdAcos(-q / p) / 3.0f;
phi = btAcos(-q / p) / 3.0f;
dummy = SIMD_2_PI / 3.0f;
m_roots[0] = r * SimdCos(phi) - a;
m_roots[1] = r * SimdCos(phi + dummy) - a;
m_roots[2] = r * SimdCos(phi - dummy) - a;
m_roots[0] = r * btCos(phi) - a;
m_roots[1] = r * btCos(phi + dummy) - a;
m_roots[2] = r * btCos(phi - dummy) - a;
return 3;
}
else {
/* */
/* one single and one SimdScalar root */
/* one single and one btScalar root */
/* */
r = cubic_rt(-q);
m_roots[0] = 2.0f * r - a;
@@ -191,31 +191,31 @@ int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, Sim
/* it returns the number of different roots found, and stores the roots in */
/* roots[0,3]. it returns -1 for a degenerate equation 0 = 0. */
/* */
int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d)
int BU_AlgebraicPolynomialSolver::Solve4Quartic(btScalar lead, btScalar a, btScalar b, btScalar c, btScalar d)
{
SimdScalar p, q ,r;
SimdScalar u, v, w;
btScalar p, q ,r;
btScalar u, v, w;
int i, num_roots, num_tmp;
//SimdScalar tmp[2];
//btScalar tmp[2];
if (lead != 1.0) {
/* */
/* transform into normal form: x^4 + a x^3 + b x^2 + c x + d = 0 */
/* */
if (SimdEqual(lead, SIMD_EPSILON)) {
if (btEqual(lead, SIMD_EPSILON)) {
/* */
/* we have a x^3 + b x^2 + c x + d = 0 */
/* */
if (SimdEqual(a, SIMD_EPSILON)) {
if (btEqual(a, SIMD_EPSILON)) {
/* */
/* we have b x^2 + c x + d = 0 */
/* */
if (SimdEqual(b, SIMD_EPSILON)) {
if (btEqual(b, SIMD_EPSILON)) {
/* */
/* we have c x + d = 0 */
/* */
if (SimdEqual(c, SIMD_EPSILON)) {
if (SimdEqual(d, SIMD_EPSILON)) {
if (btEqual(c, SIMD_EPSILON)) {
if (btEqual(d, SIMD_EPSILON)) {
return -1;
}
else {
@@ -254,7 +254,7 @@ int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, S
p = b - 6.0f * a * a;
q = a * (8.0f * a * a - 2.0f * b) + c;
r = a * (a * (b - 3.f * a * a) - c) + d;
if (SimdEqual(q, SIMD_EPSILON)) {
if (btEqual(q, SIMD_EPSILON)) {
/* */
/* biquadratic equation: y^4 + p y^2 + r = 0. */
/* */
@@ -263,23 +263,23 @@ int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, S
if (m_roots[0] > 0.0f) {
if (num_roots > 1) {
if ((m_roots[1] > 0.0f) && (m_roots[1] != m_roots[0])) {
u = SimdSqrt(m_roots[1]);
u = btSqrt(m_roots[1]);
m_roots[2] = u - a;
m_roots[3] = -u - a;
u = SimdSqrt(m_roots[0]);
u = btSqrt(m_roots[0]);
m_roots[0] = u - a;
m_roots[1] = -u - a;
return 4;
}
else {
u = SimdSqrt(m_roots[0]);
u = btSqrt(m_roots[0]);
m_roots[0] = u - a;
m_roots[1] = -u - a;
return 2;
}
}
else {
u = SimdSqrt(m_roots[0]);
u = btSqrt(m_roots[0]);
m_roots[0] = u - a;
m_roots[1] = -u - a;
return 2;
@@ -288,7 +288,7 @@ int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, S
}
return 0;
}
else if (SimdEqual(r, SIMD_EPSILON)) {
else if (btEqual(r, SIMD_EPSILON)) {
/* */
/* no absolute term: y (y^3 + p y + q) = 0. */
/* */
@@ -321,17 +321,17 @@ int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, S
u = w * w - r;
v = 2.0f * w - p;
if (SimdEqual(u, SIMD_EPSILON))
if (btEqual(u, SIMD_EPSILON))
u = 0.0;
else if (u > 0.0f)
u = SimdSqrt(u);
u = btSqrt(u);
else
return 0;
if (SimdEqual(v, SIMD_EPSILON))
if (btEqual(v, SIMD_EPSILON))
v = 0.0;
else if (v > 0.0f)
v = SimdSqrt(v);
v = btSqrt(v);
else
return 0;
@@ -343,7 +343,7 @@ int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, S
m_roots[i] -= a;
}
w += 2.0f *u;
SimdScalar tmp[2];
btScalar tmp[2];
tmp[0] = m_roots[0];
tmp[1] = m_roots[1];